Robot and manufacturing method for robot

ABSTRACT

A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Japanese Patent Application Nos.2013-187149 filed Sep. 10, 2013; 2013-191011 filed Sep. 13, 2013;2013-191012 filed Sep. 13, 2013; 2013-191013 filed Sep. 13, 2013; and2013-226523 filed Oct. 31, 2013; all of which are hereby expresslyincorporated by reference herein in their entirety.

BACKGROUND

1. Technical Field

The present invention relates to a robot and a manufacturing method fora robot. Specifically, the present invention relate to a robot having amulti-joint arm.

2. Related Art

Industrial robots have been used in assembling lines for industrialproducts or welding process lines in a factory to achieve automation andenergy-saving system. In recent years, because work processes arecomplicated due to smaller size and high functionality of industrialproducts, a multi-axis control having a multi-joint arm in which an armmember including a plurality of links and joints is rotatably fixed to adriving axis (a rotational axis) is desired. For example, JP publicationNo. 2010-167515 discloses a robot in which a six-axis multi-joint arm isprovided at each side of a base (a body). The six-axis multi-joint armis configured with a shoulder member, an upper arm member, a forearmmember and a wrist member to perform as a human arm. An end effector,such as a robot hand, that performs certain work by a robot is attachedto a tip of a link that acts as a wrist member of the multi-joint arm.

Further, a seventh-axis multi-joint arm is developed in the recentyears. The seventh-axis multi-joint arm has a twist operation arm(joint) and a bending and stretching operation arm (joint) that arealternatively connected to the upper arm member to perform as a realhuman arm operation.

As discussed above, when the human work is replaced by industrial robotwork for the automation, a size of a robot is required as a size of ahuman to place them in existing lines of a factory. Thus, furthersmaller size of a robot is desired. In a robot having the six- orseventh-axis multi-joint arm, a joint configuration that rotatablyconnects and drives adjacent links is a bottleneck when a movementfreedom of an end effector in connection with an arm movement increasesand a size is miniaturize. The key is a downsized writ member as a link.The most end of a bending and stretching rotational axis to which an endeffector is attached is connected to the link. In other words, a hand towhich the end effector is attached is rotatably connected to the linkaround a twist-rotational axis.

At least a motor that is configured with a rotor that rotates a handaround the twist-rotational axis, a rotor shaft, a stator and housing isassembled in the twist member. JP publication No. S62-241689 discloses arobot in which a member that forms an outer cover of an arm member (awrist member) is used as housing to make a compact wrist member.

However, because the housing that holds and positions a motor is theouter cover of the wrist member in JP publication No. S62-241689, heatthat is generated by the motor operation is directly transferred to thewrist member. As a result, there is a possibility that mechanicalproblems caused by the heat may occur. Further, when a driving element,such as an encoder, assembled to the wrist member is located in thehousing, the heat may cause a position detection error of the encoder soas to affect robot operations.

A robot arm configured by coupling a plurality of arm sections and arobot including the robot arm have been known (see, for example, PatentLiterature 1). In the robot arm, a coupling portion of the arm sectionsis a joint. The arm sections can be bent or twisted by the joint. Theexternal shape of each of the arm sections is formed in a pillar shape(e.g., a columnar shape). The outer diameter of the arm section issubstantially fixed along the center axis direction thereof.

The related art is described in JP-A-2010-284777.

However, when the arm sections having the substantially fixed outerdiameter are bent by the joint between the arm sections, since the outerdiameter is fixed, the outer circumferential section of one arm sectionand the outer circumferential section of the other arm section interferewith each other (collide with each other) relatively early after thestart of the bending. Therefore, a movable range (a turning range) ofthe arms is relatively narrow.

SUMMARY

An advantage of some aspects of the invention is to provide a robot armin which, when one arm section of two arm sections coupled to each otherturns with respect to the other arm section, a turning range of the armsection can be secured as wide as possible and a robot including therobot arm.

The advantage is attained by application examples according to theinvention explained below.

Application Example 1

This application example is directed to a robot arm in which a pluralityof arm sections including a first arm section and a second arm sectionare turnably connected. The arm section includes a first link, a secondlink, and an actuator section that turns the first link and the secondlink. The first arm section includes, on an outer circumferentialsurface between the first link and the second link in a center axisdirection, a small body section with reduced length of a bodycircumference.

With this configuration, when one arm section of the two arm sectionscoupled to each other turns with respect to the other arm section, theone arm section can turn until a part of an outer circumferentialsection of the other arm enters the small body section of the one armsection. Therefore, it is possible to secure a turning range of the onearm section as wide as possible. A body shape including the small bodysection is exemplified by a hand drum or a sandglass.

Application Example 2

In the robot arm according to the application example described above,it is preferable that the small body section is located on the extensionof a track on which the second arm section turns and a part of thesecond arm section approaches the first arm section.

With this configuration, when the one arm section of the two armsections coupled to each other turns with respect to the other armsection, the one arm section can turn until a part of the outercircumferential section of the other arm section enters the small bodysection of the one arm section. Therefore, it is possible to secure aturning range of the one arm section as wide as possible.

Application Example 3

In the robot arm according to the application example described above,it is preferable that the length of the body circumference graduallychanges in the small body section.

With this configuration, when a part of the second arm section turns ina direction toward the first arm section, since the length of the bodycircumference gradually changes, the second arm section can smoothlyturn while securing a turning range as wide as possible.

Application Example 4

In the robot arm according to the application example described above,it is preferable that, in the small body section, a curvature of thefirst arm section on a side adjacent to the second arm section is largerthan a curvature on the opposite side of the second arm section.

The configuration described above contributes to securing a turningrange of the second arm section as wide as possible.

Application Example 5

In the robot arm according to the application example described above,it is preferable that the second arm section coupled to the first armsection including the small body section includes a small diameter endsection where the outer diameter of the outer circumferential surface atan end adjacent to the first arm section is reduced.

The configuration described above contributes to securing a turningrange of the one arm section as wide as possible.

Application Example 6

In the robot arm according to the application example described above,it is preferable that the outer diameter of the small diameter endsection decreases according to a distance from the first arm section.

The configuration described above contributes to securing a turningrange of the one arm section as wide as possible. The outer diameter ofthe small diameter end section becomes smaller toward the first armsection.

Application Example 7

This application example is directed to a robot including the robot armin the application example described above.

With this configuration, when one arm section of the two arm sectionscoupled to each other turns with respect to the other arm section, theone arm section can turn until a part of an outer circumferentialsection of the other arm section enters the small body section of theone arm section. Therefore, it is possible to secure a turning range ofthe one arm section as wide as possible.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described with reference to the accompanyingdrawings, wherein like numbers reference like elements.

FIG. 1 is a schematic front view showing a robot including a robot armaccording to a first embodiment 1.

FIG. 2 is a partial sectional view of the robot arm viewed from an arrowA direction in FIG. 1.

FIGS. 3A and 3B are diagrams showing turning states of robot arms,wherein FIG. 3A is a turning state of the robot arm shown in FIG. 1 andFIG. 3B shows a turning state of a robot arm in the past.

FIG. 4 is a schematic sectional view of an arm section of the robot armshown in FIG. 1.

FIGS. 5A and 5B are perspective views showing twisted states of therobot arm shown in FIG. 1, wherein FIG. 5A shows a state before twistingand FIG. 5B shows a state after the twisting.

FIGS. 6A to 6C are schematic side views and schematic views from aproximal end side showing twisted states of the robot arm shown in FIG.1, wherein FIG. 6A shows a state before twisting, FIG. 6B shows a stateduring the twisting, and FIG. 6C shows a state after the twisting.

FIG. 7 is a schematic front view showing a robot including a robot armaccording to a first embodiment 2.

FIG. 8 is a perspective view showing the external shape of an actuatoraccording to a second embodiment 1.

FIGS. 9A and 9B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed inthe actuator according to the second embodiment 1.

FIG. 10 is a sectional view showing an internal structure of theactuator according to the second embodiment 1.

FIGS. 11A to 11E are schematic diagrams showing movements of a wire bodyof the actuator according to the second embodiment 1.

FIG. 12 is a schematic diagram showing the configuration of a scalartype robot according to the second embodiment 1.

FIG. 13 is a schematic diagram showing the configuration of a six-axisvertical multi-joint type robot according to the second embodiment 1.

FIG. 14 is a schematic diagram showing the configuration of a double-armseven-axis robot according to the second embodiment 1.

FIGS. 15A and 15B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator in which wire bodies are arranged to be opposed to each otheraccording to a second embodiment 2.

FIGS. 16A to 16E are schematic diagrams showing movements of the wirebody of the actuator according to the second embodiment 2.

FIGS. 17A and 17B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator in which a plurality of wire bodies are arranged in thecircumferential direction according to a second embodiment 3.

FIGS. 18A and 18B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator in which a plurality of wire bodies are arranged in the radialdirection according to a second embodiment 4.

FIGS. 19A and 19B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator in which a plurality of wire bodies are arranged in the axialdirection according to a second embodiment 5.

FIG. 20 is a perspective view schematically showing the schematicconfiguration of a robot according to a third embodiment 1.

FIG. 21 is a partial sectional view schematically showing a frontstructure of an actuator as an example of a joint driving mechanism ofthe robot according to the third embodiment 1.

FIG. 22 is a perspective view schematically showing the structure of adriving transmitting section of the robot according to the thirdembodiment 1.

FIG. 23 is a partial sectional view schematically showing the structureof a joint driving mechanism of a wrist member of the robot according tothe third embodiment 1.

FIG. 24 is a partial sectional view of a cross section, which isdifferent from FIG. 23, schematically showing the structure of the jointdriving mechanism of the wrist member of the robot according to thethird embodiment 1.

FIG. 25 is a perspective sectional view schematically showing the shapeof the inside of a housing of the wrist member in the third embodiment 1cut into substantially a half.

FIG. 26 is a flowchart showing a manufacturing method for the robotaccording to the third embodiment 1.

FIG. 27 is an explanatory diagram schematically showing a robotaccording to a third embodiment 2.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

A robot arm and a robot according to the invention are explained indetail below on the basis of preferred embodiments shown in theaccompanying drawings.

First Embodiment 1

FIG. 1 is a schematic front view showing a robot including a robot armaccording to this embodiment. FIG. 2 is a partial sectional view of therobot arm viewed from an arrow A direction in FIG. 1. FIGS. 3A and 3Bare diagrams showing turning states of robot arms, wherein FIG. 3A is aturning state of the robot arm shown in FIG. 1 and FIG. 3B shows aturning state of a robot arm in the past. FIG. 4 is a schematicsectional view of an arm section of the robot arm shown in FIG. 1. FIGS.5A and 5B are perspective views showing twisted states of the robot armshown in FIG. 1, wherein FIG. 5A shows a state before twisting and FIG.5B shows a state after the twisting. FIGS. 6A to 6C are schematic sideviews and schematic views from a proximal end side showing twistedstates of the robot arm shown in FIG. 1, wherein FIG. 6A shows a statebefore twisting, FIG. 6B shows a state during the twisting, and FIG. 6Cshows a state after the twisting. Note that, in the followingexplanation, for convenience of explanation, the upper side in FIG. 1(and FIG. 7) is referred to “up (or upward)” and the lower side isreferred to as “down (downward)”. A base side in FIGS. 1 to 6 (and FIG.7) is referred to as “proximal end” and the opposite side of the baseside (an end effector side) is referred to as “distal end”.

As shown in FIG. 1, a robot 1 includes one robot arm 3, to which an endeffector is detachably mounted, and a base 2 that supports the robot arm3. The robot 1 is electrically connected to a power supply (not shown)that supplies electric power.

The base 2 can be fixed to, for example, a floor 200 via fixing bolts.The base 2 is sometimes attached with casters and portable. The base 2includes a case 21 formed in a box shape. Various electric devices suchas a motor driver (not shown in the figure) are housed in the case 21.

The robot arm 3 is a robot arm including four arm sections 31, 33, 35,and 37 arranged in order from a proximal end side and arm sections 32,34, and 36 functioning as joints that couple the arm sections 31, 33,35, and 37. In the robot arm, the arm section 31 is exemplified as“first arm section”, the arm section 32 is exemplified as “second armsection”, the arm section 33 is exemplified as “third arm section”, thearm section 34 is exemplified as “fourth arm section”, the arm section35 is exemplified as “fifth arm section”, the arm section 36 isexemplified as “sixth arm section”, and the arm section 37 isexemplified as “seventh arm section”.

The arm section 31 can turn around a center axis O₁ thereof (a twistedstate).

The arm section 32, which couples the arm section 31 and the arm section33, turnably supports the arm section 33 with respect to the arm section31 around a center axis (a turning axis) O₂ crossing (orthogonal to) orpresent in a position twisted from the center axis O₁.

The arm section 33 can turn around a center axis O₃ thereof (a twistedstate).

The arm section 34 that couples the arm section 33 and the arm section35 turnably supports the arm section 35 with respect to the arm section33 around a center axis (a turning axis) O₄ crossing (orthogonal to) orpresent in a position twisted from the center axis O₃.

The arm section 35 can turn around a center axis O₅ thereof (a twistedstate).

The arm section 36 that couples the arm section 35 and the arm section37 turnably supports the arm section 37 with respect to the arm section35 around a center axis (a turning axis) O₆ crossing (orthogonal to) orpresent in a position twisted from the center axis O₅.

The arm section 37 can turn around a center axis O₇ thereof (a twistedstate).

The arm section 37 is located on a most distal end side in theexemplified robot arm 3. An end effector 10 can be detachably mounted onthe arm section 37. While work or the like is performed by the endeffector 10 in the mounted state, the arm sections 31, 32, 33, 34, 35,36, and 37 can be actuated (turned) independently from one another.Consequently, the end effector 10 can work.

The arm sections 31, 33, 35, and 37 have substantially the sameconfigurations except that arrangement places are different from oneanother. Therefore, the arm section 35 is representatively explainedbelow. The arm sections 32, 34, and 36 also have substantially the sameconfigurations except that arrangement places are different from oneanother. Therefore, the arm section 34 is representatively explainedbelow.

As shown in FIG. 4, the arm section 35 includes a wire body housingspace 11 including a motor frame 4 and a cylindrical cover 5. A motor 6is housed on the inner side of the motor frame 4. Wire bodies 7 a and 7b are disposed on the inner side of the cylindrical cover 5 provided onthe outer surface of the robot arm 3, that is, between the motor frame 4and the cylindrical cover 5. Note that, as the wire bodies 7 a and 7 b,power lines, electric wires of signal lines, cables, or pipes, tubes, orthe like for leading gas and liquid are exemplified.

Note that a constituent material of the motor frame 4 and thecylindrical cover 5 is not particularly limited. For example, variousmetal materials such as aluminum or an aluminum alloy and various resinmaterials can be used.

As shown in FIG. 2 and FIGS. 3A and 3B, in the arm section 34, a link341 is inserted into a link 342. Consequently, the arm section 35 cansmoothly turn around the link 341 (see FIG. 3A).

As shown in FIG. 4, the motor 6 housed in the motor frame 4 is, forexample, a servo motor.

When the motor 6 operates, heat generated by the motor 6 is transferredto the motor frame 4. The motor frame 4 also functions as a heatconductor for heat exhaust and contributes to reducing heat storage ofthe motor 6.

In the arm section 35, an encoder 12, a reduction gear 13, and a brake15 configuring an actuator section in conjunction with the motor 6 arehoused.

A rotation angle of the motor 6 can be detected by the encoder 12. Theposture of the robot arm 3 can be controlled on the basis of a result ofthe detection.

The reduction gear 13 is a device that includes a plurality of gears,which mesh with one another, and decelerates rotation from the motor 6and outputs a torque output. As the output, torque proportional to areduction ratio can be obtained. A driving force is transmitted from thereduction gear 13 to the second link. The second link turns with respectto the first link.

The brake 15 is arranged between the encoder 12 and the motor 6. Thebrake 15 can surely maintain a stop state of the motor 6 that stopsrotating. Consequently, it is possible to prevent the posture of therobot arm 3 from unintentionally changing.

As explained above, the arm section 35 includes the wire body housingspace 11 including the motor frame 4 and the cylindrical cover 5.

The motor frame 4 includes a structure such as a stator that surrounds arotator of the motor 6 in a cylindrical shape and supplies a magneticforce or the like for rotating the rotator. The rotator includes a shaftand a rotor that is fixed to the shaft and supplies a magnetic force orthe like. Note that, in this embodiment, the motor frame 4 is set in therobot arm 3. However, a motor cover may be set instead of the motorframe 4.

As shown in FIG. 4, the motor frame 4 includes a thickness increasedsection 422. The outer diameter of the motor frame 4 increases accordingto the thickness of the thickness increased section 422.

The cylindrical cover 5 includes a second small body section 50, thelength of the body circumference of which is gradually reduced, in aposition where the thickness in the longitudinal direction of the armsection 35 is large between the encoder 12 and the reduction gear 13.The motor frame 4 and a reduction gear collar 41 are arranged to be asimilar small body on the inner side of the second small body section50. For convenience, a small body section in the cylindrical cover 5 isrepresented as second small body section 50 and a small body sectionformed by the motor frame 4 and the reduction gear collar 41 is referredto as first small body section 40.

The outer surface of the first small body section 40 continuouslychanges. The first small body section 40 has a shape curved andconstricted as a whole to be reduced in the length of the bodycircumference. Similarly, the surface of the second small body section50 continuously changes. The second small body section 50 has a shapecurved and constricted as a whole. Note that a small body has a shapelike a hand drum. However, the cross section of the small body may be anelliptical shape or a polygonal shape other than a circular shape aslong as the small body has a constriction.

As shown in FIG. 3A, the arm section 35 can turn around the arm section34 and approach the arm section 33 from a state in which the robot arm 3maximally extends, that is, the center axis O₅ of the arm section 35 andthe center axis O₃ of the arm section 33 are parallel to each other. Thesecond small body section 50 is located on the extension in a directionof the approach. Consequently, in a state in which the arm section 35 isclosest to the arm section 33, a small diameter end section 331 of thearm section 33 enters the second small body section 50 of thecylindrical cover 5. In the following explanation, an angle in this caseis referred to as “maximum turning angle α”.

Note that the small diameter end section 331 of the arm 33 has a tapershape in which the outer diameter thereof is gradually reduced indiameter, that is, gradually decreases toward the distal end side.

On the other hand, as shown in FIG. 3B, the robot arm in the past doesnot include the cylindrical cover 5 and the small diameter end section331 formed in the taper shape. Therefore, even if the robot arm changesfrom a maximally extended state to a maximally bent state, arm mainbodies interfere (collide) with each other before reaching the maximumturning angle α. A maximum turning angle β is extremely smaller than themaximum turning angle α.

In this way, in the robot arm 3, when the arm section 35 turns withrespect to the arm section 33, the arm section 35 can turn until thesmall diameter end section 331 of the arm 33 enters the cylindricalcover 5 of the arm section 35. Consequently, it is possible to securethe maximum turning angle α as large as possible, that is, secure aturning range of the arm section 35 as wide as possible.

The small diameter end section 331 formed in the taper sectioncontributes to securing the turning range of the arm section 35 as wideas possible.

As shown in FIG. 4, the first small body section 40 is formed by themotor frame 4 and the reduction gear collar 41.

The motor frame 4 includes, in an outer circumferential section 631, astep section 421 formed to be recessed. A proximal end section 411 ofthe reduction gear collar 41 fixed to the reduction gear 13 is insertedinto the step section 421. Consequently, steep unevenness facing theouter side is prevented or suppressed in a boundary section 43 betweenthe motor frame 4 and the reduction gear collar 41. Therefore, it ispossible to prevent the wire bodies 7 a and 7 b from being damaged bythe unevenness.

The cylindrical cover 5 is divided into two members halfway in thecenter axis O₅ direction of the arm section 35 and includes a firstmember 51 formed in a tubular shape on the distal end side and a secondmember 52 formed in a tubular shape on the proximal end side. The secondsmall body section 50 of the cylindrical cover 5 is also formed toextend across the first member 51 and the second member 52.

The first member 51 includes a step section 511 formed to be cut in aproximal end inner circumferential section of the first member 51 andequivalent to the thickness of the second member 52. A distal endsection 521 of the second member 52 is inserted into, that is, laid onthe step section 511. Consequently, steep unevenness facing the innerside is prevented or suppressed in a boundary section 53 between thefirst member 51 and the second member 52. Therefore, it is possible toprevent the wire bodies 7 a and 7 b from being damaged by theunevenness.

As shown in FIG. 4, the distal end sections of the reduction gear collar41 and the first member 51 are coupled and fixed. The proximal endsections of motor frame 4 and the second member 52 are coupled andfixed. The reduction gear collar 41 and the first member 51 coupled toeach other and the motor frame 4 and the second member 52 coupled toeach other can relatively turn around the center axis O₅ according tothe operation of the motor 6. According to the turning, the arm section35 is twisted around the center axis O₅.

Note that the reduction gear collar 41 is a brim-like article providedin the turning axis or across section isosceles trapezoidal articlewidening toward the axis center of the turning axis.

As explained above, the first small body section 40 is formed by themotor frame 4 and the reduction gear collar 41. In the cylindrical cover5, the second small body section 50 is formed to extend across the firstmember 51 and the second member 52.

As shown in FIG. 4, as the curvature of the first small body section 40,a curvature on the reduction gear collar 41 side (one end side)(=1/curvature radius R₄₁) and a curvature on the motor frame 4 side (theother end side) (=1/curvature radius R₄₂) are different. The curvatureon the reduction gear collar 41 side is larger than the curvature on themotor frame 4 side.

As the curvature in the second small body section 50, a curvature on thefirst member 51 side (one end side) (=1/curvature radius R₅₁) and acurvature on the second member 52 side (the other end side)(=1/curvature radius R₅₂) are different. The curvature on the firstmember 51 side is larger than the curvature on the second member 52side.

For example, as shown in FIG. 3A, in a state in which the robot arm 3 ismaximally bent, a portion on the first member 51 side of the secondsmall body section 50 of the cylindrical cover 5 faces a corner section(a terminal end) 332 of the small diameter end section 331 of the armsection 33. The curvature on the first member 51 side is preferablylarge such that the corner section 332 can deeply enter the second smallbody section 50 of the cylindrical cover 5. Consequently, it is possibleto secure the turning range of the arm section 35 as wide as possible.

As shown in FIG. 4, according to such a magnitude relation of thecurvatures, a gap distance h of the wire body housing space 11 formedbetween the first small body section 40 and the second small bodysection 50 is substantially fixed along the center axis O₅. The gapdistance h is secured larger than the thickness of the wire bodies 7 aand 7 b. Consequently, the wire bodies 7 a and 7 b housed between asurface including the first small body section 40 and a surfaceincluding the second small body section 50 and inserted through thesurfaces can be prevented from receiving an excessive pressing forcefrom the small body sections.

Note that the wire bodies 7 a and 7 b are power lines for supplyingelectric power to the sections of the robot 1, signal lines for exchangeof signals between devices, pipes for leading gas and liquid, or thelike. For example, one of the wire bodies 7 a and 7 b is a wire body forsupplying electric power to the end effector 10 mounted on the armsection 37. The other is a wire body for supplying electric power to themotor 6. Consequently, the end effector 10 is enabled to operate and cangrip an object to be gripped and releases the gripped object to begripped. Further, the motor 6 is enabled to operate and a twistingmotion of the arm section 35 is performed.

The wire bodies 7 a and 7 b have the same configuration except thatfunctions are different. Therefore, the wire body 7 a isrepresentatively explained below. Note that, in FIGS. 6A and 6B, thewire body 7 a is representatively drawn.

As shown in FIGS. 5A and 5B and FIGS. 6A to 6C, between the first smallbody section 40 and the second small body section 50, a part of the wirebody 7 a is wound around the longitudinal axis of the arm section 35,that is, around the center axis O₅. Since the wire body 7 a is woundaround the small body section, the total length of the wire body 7 a canbe reduced by a reduced diameter in the small body section.Consequently, it is possible to reduce costs of the wire body 7 aitself. Further, when the wire body 7 a is drawn around, it is possibleto quickly and easily perform the drawing-around work.

Between the first small body section 40 and the second small bodysection 50, the distal end (one end side) of the wire body 7 a is fixedto the reduction gear collar 41, which configures the motor frame 4, bya cable clamp 30 a and the proximal end side (the other end side) of thewire body 7 a is fixed to the motor frame 4 by a cable clamp 30 b (seeFIGS. 6A to 6C).

Further, the wire body 7 a is curved and folded back halfway and housedin a U shape.

A folded-back section 71 of the wire body 7 a is close to the fold-backsection 71 of the wire body 7 b. However, the folded-back sections 71 donot interfere with (cross) each other (see FIGS. 5A and 5B).

In the wire body 7 a wired as explained above, as shown in FIGS. 5A and5B and FIGS. 6A to 6C, even if the reduction gear collar 41 turns aroundthe center axis O₅ with respect to the motor frame 4, an unintended kinkof the folded-back section 71 is prevented. Therefore, the life of thewire body 7 a can be secured long.

As shown in FIG. 4, the thickness increased section 422 and a thicknessfixed section 423 are provided in the motor frame 4. In the thicknessincreased section 422, thickness t (average thickness) of the motorframe 4 of the arm section 35 increases in thickness in a direction awayfrom the reduction gear 13, that is, toward the proximal end side. Inthe thickness fixed section 423, the thickness t is fixed along thecenter axis O₅ (the center axis of the wire body housing space 11)direction. The thickness fixed section 423 is provided further on thedistal end side than the thickness increased section 422. The brake 15is arranged further on the proximal end side than the thicknessincreased section 422.

The thickness increased section 422 and the thickness fixed section 423are parts of the wire body housing space 11. Therefore, specific heatC₄₂₂ of the thickness increased section 422 and specific heat C₄₂₃ ofthe thickness fixed section 423 are the same. On the other hand, thethickness t is larger in the thickness increased section 422 than in thethickness fixed section 423. Therefore, mass m₄₂₂ of the thicknessincreased section 422 is larger than mass m₄₂₃ of the thickness fixedsection 423. Since a heat capacity is a product of specific heat andmass, a heat capacity C₄₂₂ of the thickness increased section 422 isc₄₂₂×m₄₂₂ and a heat capacity C₄₂₃ of the thickness fixed section 423 isc₄₂₃×m₄₂₃. In this case, the heat capacity C₄₂₂ is larger than the heatcapacity C₄₂₃.

When the motor 6 operates and the brake 15 operates according to theoperation of the motor 6, heat Q₁ is generated from the motor 6 and heatQ₂ is generated from the brake 15. In general, a degree of heat transferis different according to the magnitude of a heat capacity of a medium(a heat medium). Therefore, the heat Q₁ and the heat Q₂ arepreferentially transferred from the thickness increased section 422,which has the larger heat capacity, to the proximal end side. The heattransferred to the proximal end side is gradually radiated during thetransfer. Consequently, it is possible to reduce heating of the motor 6and the brake 15.

In the thickness increased section 422, the thickness t changes(increases) stepwise. Consequently, the heat Q₁ and the heat Q₂ aresurely transferred to the proximal end side through the thicknessincreased section 422.

In particular, in the case of an arm section mounted with the endeffector 10, since sensors susceptible to heat such as a force sensorare set between the arm section and the end effector 10, it ispreferable that exhaust heat is transferred to the proximal end siderather than the distal end side.

First Embodiment 2

FIG. 7 is a schematic front view showing a robot including a robot armaccording to this embodiment.

The robot arm and the robot according to this embodiment are explainedbelow with reference to the figure. However, differences from theembodiment explained above are mainly explained. Explanation ofsimilarities is omitted.

This embodiment is the same as the first embodiment 1 except that thenumber of robot arms is different.

As shown in FIG. 7, in this embodiment, the robot 1 includes a pluralityof robot arms 3, a body section functioning as the base 2 that supportsthe robot arms 3, and a camera 20 functioning as an image pickup deviceset on the base 2. Such a double-arm robot 1 is used in a productionsystem of a cell production method (a variable model variable quantityproduction system corresponding to a demand) for assembling andmanufacturing a precision apparatus (an electronic apparatus) such as aprinter or a camera in end effectors 10 of the plurality of robot arms 3while visually recognizing the precision apparatus with the camera 20.

The robot arm and the robot in this embodiment are explained concerningthe embodiments shown in the figures. However, the invention is notlimited to the embodiments. The sections configuring the robot arm andthe robot can be replaced with a robot arm and a robot having anyconfigurations that can show similar functions. Any components may beadded.

The robot arm and the robot according to the invention may be a robotarm and a robot obtained by combining any two or more configurations(characteristics) in the embodiments.

The number of robot arms included in the robot is one in the firstembodiment 1 and is two in the first embodiment 2. However, the numberof robot arms is not limited to these numbers and may be, for example,three or more.

The number of arm sections coupled by the robot arm is not limited tothe numbers in the embodiments.

In the thickness increased section, the thickness t changes stepwise inthe embodiments. However, the thickness increased section is not limitedto this. For example, the thickness t may continuously change.

Second Embodiment 1

FIG. 8 is a perspective view showing an external shape of an actuator101 according to this embodiment. FIGS. 9A and 9B are a perspective viewand a sectional view showing an inside in a state in which a cylindricalouter cylinder is removed in the actuator 101 according to thisembodiment.

The actuator 101 according to this embodiment is explained below withreference to the figures. However, differences from the embodimentexplained above are mainly explained. Explanation of similarities isomitted.

In the actuator 101 according to this embodiment, as shown in FIG. 8, abase point link (a first link) 110 and a turning link (a second link)111 are turnably arranged. A transmission shaft outer cylinder 112 and areduction gear output axis outer cylinder 113 are arranged between thebase point link 110 and the turning link 111. In the transmission shaftouter cylinder 112, a base point link wire body extraction port 116 isprovided and a base point link fixed wire body 141 is arranged. In thereduction gear output axis outer cylinder 113, a turning link wire bodyextraction port 117 is provided and a turning link fixed wire body 142is arranged.

As shown in FIGS. 9A and 9B, in the actuator 101, a motor 120, areduction gear 130, a reduction gear output shaft collar 135, and a wirebody 140 are arranged between the base point link 110 and the turninglink 111.

The wire body 140 is housed in a space surrounded by the transmissionshaft outer cylinder 112, the reduction gear output shaft outer cylinder113, a transmission shaft 114, the reduction gear 130, the reductiongear output shaft collar 135, the base point link 110, and the turninglink 111. The wire body 140 is at least one of a wire and a pipe. Notethat the wire body 140 is a general term of a power line, a signal line,a gas pipe for supplying gas, a liquid pipe for supplying liquid, andthe like. Note that the gas pipe also includes a vacuum pipe.

The wire body 140 is fixed to the base point link 110 by a base pointlink wire body clamp 145 and fixed to the turning link 111 by a turninglink wire body clamp 146. The wire body 140 includes a wire body movablesection 143 held by the base point link wire body clamp 145 and theturning link wire body clamp 146, the base point link fixed wire body141 fixed to the base point link 110, and the turning link fixed wirebody 142 fixed to the turning link 111.

The base point link wire body clamp 145 may fix the wire body 140 to becloser to the transmission shaft 114 side. The turning link wire bodyclamp 146 may fix the wire body 140 to be closer to the reduction gearoutput shaft outer cylinder 113. By fixing the wire body 140 in thisway, it is possible to reduce contact of the wire body 140 with theinner circumference of the transmission shaft outer cylinder 112 and thetransmission shaft 114 and improve the durability of the wire body 140.

The wire body 140 is arranged along the outer circumferences of thetransmission shaft 114, a reduction gear frame 131, the reduction gearoutput shaft collar 135, and the reduction gear 130, the innercircumference of the transmission shaft outer cylinder 112, and theinner circumference of the reduction gear output shaft outer cylinder113. The wire body movable section 143 is arranged to be folded back ina U shape along the circumferential direction of the transmission shaft114 and a reduction gear output shaft 133 (see FIG. 10).

When the turning link 111 turns with respect to the base point link 110,the position of a U-shape bent section of the wire body movable section143 moves. Consequently, stress acting on the wire body 140 is reduced.In this case, the wire body 140 involves only bending deformation anddoes not involve torsional deformation. The entire wire body movablesection 143 absorbs stress acting on the wire body 140 according to themovement of the U-shape section. Therefore, the stress acting on thewire body 140 is small. It is possible to improve the durability of thewire body 140.

FIG. 10 is a sectional view showing an internal structure of an actuator101 according to this embodiment. The actuator 101 includes, as shown inFIG. 10, the motor 120, the reduction gear 130, the reduction gearoutput shaft collar 135, the reduction gear output shaft 133, thetransmission shaft 114 including a motor frame 121 of the motor 120 asat least a part, the transmission shaft outer cylinder 112, thereduction gear output shaft outer cylinder 113, a position detector 150,a mechanical brake 151, a joint supporting bearing 115, a rotor shaftsupporting main bearing 125, a rotor shaft supporting driven bearing126, a motor oil seal 127, a reduction gear oil seal 134, a motordriving circuit 118, and a position detector processing circuit 119.

The motor 120 includes the motor frame 121, a rotor 122, a rotor shaft123, a stator 124, the rotor shaft supporting main bearing 125, therotor shaft supporting driven bearing 126, and the motor oil seal 127.The rotor shaft 123 is supported by the rotor shaft supporting mainbearing 125 and the rotor shaft supporting driven bearing 126 andconnected to a reduction gear input shaft 132 on the inside of thereduction gear 130. The motor oil seal 127 prevents grease or lubricantfor lubricating the inside of the reduction gear 130 from intruding intobetween the rotor 122 and the stator 124.

The reduction gear 130 includes the reduction gear frame 131, thereduction gear input shaft 132, the reduction gear output shaft 133, thereduction gear oil seal 134, the joint supporting bearing 115, and agear mechanism. The reduction gear frame 131 is connected to the basepoint link 110 via the motor frame 121 and the transmission shaft 114.The reduction gear output shaft 133 is connected to the turning link111. The reduction gear input shaft 132 is connected to the rotor shaft123 of the motor 120 on the inside of the reduction gear 130. Thereduction gear 130 increases torque generated by the motor 120 in thegear mechanism, extracts the torque to the reduction gear output shaft133, and drives the turning link 111.

In this embodiment, a wave gear is used as the gear mechanism of thereduction gear 130. However, other deceleration mechanism may be used.

The reduction gear output shaft collar 135 is connected to the reductiongear output shaft 133 and arranged in the outer circumference of thereduction gear frame 131 or the transmission shaft 114. The reductiongear output shaft collar 135 prevents the wire body 140 from coming intocontact with the reduction gear frame 131 or the transmission shaft 114.

The reduction gear oil seal 134 prevents the grease or the lubricant forlubricating the inside of the reduction gear 130 from flowing out to themechanical brake 151 side.

The transmission shaft 114 also functions as the motor frame 121. On theinside of the transmission shaft 114, the rotor 122, the rotor shaft123, and the stator 124 configuring the motor 120, the rotor shaftsupporting main bearing 125, the rotor shaft supporting driven bearing126, and the motor oil seal 127 are arranged. One end face of thetransmission shaft 114 is connected to the reduction gear frame 131. Theother end face is connected to the base point link 110. The transmissionshaft 114 transmits reaction of torque for driving the turning link 111to the base point link 110.

By integrating at least a part of the transmission shaft 114 with themotor frame 121, the length in the radial direction of the actuator 101can be reduced compared with when the motor frame 121 is arrangedseparately from the transmission shaft 114. Therefore, the actuator 101can be reduced in size and weight. Heat generated from the stator 124during the driving of the motor 120 can be radiated via the transmissionshaft 114. Therefore, it is possible to configure the actuator 101having a high heat radiation property.

The wire body 140 is housed in a space surrounded by the transmissionshaft outer cylinder 112 and the motor frame 121 or the transmissionshaft 114 and a space surrounded by the reduction gear output shaftouter cylinder 113 and the reduction gear frame 131 or the transmissionshaft 114.

The joint supporting bearing 115 supports, with a cantilever structure,the turning link 111 with respect to the base point link 110. In thisembodiment, a joint supporting method of the cantilever structure isused. However, a joint supporting method of a twin holding structure maybe used.

The position detector 150 may be arranged on the inside of the basepoint link 110. Consequently, the length between the base point link 110and the turning link 111 can be reduced and the actuator 101 can bereduced in size. As the position detector 150, a unit structure may beused or a module structure may be used.

The rotor shaft 123 may be connected to an input shaft of the mechanicalbrake 151 piercing through the center of the reduction gear output shaft133 and arranged on the inside of the turning link 111. Consequently,the length between the base point link 110 and the turning link 111 canbe reduced and the actuator 101 can be reduced in size.

The joint driving device 101 may include the motor driving circuit 118and the position detector processing circuit 119. The motor drivingcircuit 118 and the position detector processing circuit 119 may bearranged between the transmission shaft outer cylinder 112 and thetransmission shaft 114, between the reduction gear output shaft outercylinder 113 and the reduction gear frame 131, or the inside of the basepoint link 110 or the turning link 111. Consequently, the length betweenthe base point link 110 and the turning link 111 can be reduced and theactuator 101 can be reduced in size.

The stator 124 of the motor 120 may be shrunk-fit in or press-insertedinto the motor frame 121. Consequently, by shrink-fitting orpress-inserting the stator 124, components for fixing the stator 124 tothe motor frame 121 can be reduced, the actuator 101 can be reduced insize, and costs can be reduced.

Since FIG. 10 is a schematic diagram, a sectional view is omitted.Scales are set to clearly show the figure. The wire body 140 is a singlewire body or is formed by binding a plurality of wire bodies. The wirebody 140 is bendable. The wire body 140 can bend following motions ofthe base point link 110 and the turning link 111 that turn with respectto each other.

The operation of the actuator 101 in this embodiment configured asexplained above is explained.

When the motor 120 is driven, the turning link 111 connected to thereduction gear output shaft 133 turns with respect to the base pointlink 110 connected to the transmission shaft 114. The U-shaped wire bodymovable section 143 moves in a space surrounded by the reduction gearoutput shaft 133 and the reduction gear output shaft outer cylinder 113or the transmission shaft 114 and the transmission shaft outer cylinder112, whereby the wire body 140 absorbs an angle change of the base pointlink 110 and the turning link 111.

When the turning link 111 turns clockwise (CW) with respect to the basepoint link 110, the wire body 140 moves to be rolled in and moves whilewinding around the reduction gear output shaft collar 135. Conversely,when the turning link 111 turns counterclockwise (CCW), the wire body140 moves to be pushed out and moves along the reduction gear outputshaft outer cylinder 113 and the transmission shaft outer cylinder 112.In this operation, only bending deformation acts on the wire body 140.The U-shaped bent section moves on the wire body 140 according to theturn of the link. Therefore, it is possible to absorb the stress of thebending deformation with the entire wire body 140 and improve thedurability of the wire body 140.

According to this embodiment, the rotor shaft 123 has a solid structure.Compared with a shaft having a hollow structure, the rotor shaft 123 hassmall inertia and can accelerate and decelerate at high speed. Comparedwith the shaft having the hollow structure, the rotor shaft 123 havingthe solid structure has a small outer diameter. Relative speed of thecontact section with the oil seal is low. Therefore, the rotor shaft 123has small heat generation and can turn at high speed.

FIGS. 11A to 11E are schematic diagrams showing the movement of the wirebody 140 of the actuator 101 according to this embodiment. In otherwords, FIGS. 11A to 11E are schematic diagrams showing deformation ofthe wire body 140 involved in the turn of the link according to thisembodiment. A relation between the turn of the turning link 111 withrespect to the base point link 110 and the movement of the U-shaped bentsection of the wire body movable section 143 is explained with referenceto the figures.

FIG. 11A shows a reference position where the base point link wire bodyextraction port 116 and the turning link wire body extraction port 117are in the same circumferential direction of the actuator 101. An angleformed by the base point link 110 and the turning link 111 is 0 degree.

FIG. 11B shows deformation of the wire body 140 at the time when theturning link 111 turns +180 degrees with respect to the base point link110. The position of the U-shaped bent section of the wire body movablesection 143 moves at a half angle with respect to the turning angle ofthe turning link 111 because the wire body 140 is folded back in the Ushape. In this case, the U-shaped bent section moves to a position of270 degrees (=initial position 180+moving amount 180/2).

FIG. 11C shows deformation of the wire body 140 at the time when theturning link 111 turns +330 degrees with respect to the base point link110. In this case, the U-shaped bent section moves to a position of 345degrees (=initial position 180+moving amount 330/2).

FIG. 11D shows deformation of the wire body 140 at the time when theturning link 111 turns −180 degrees with respect to the base point link110. In this case, the U-shaped bent section moves to a position of 90degrees (=initial position 180−moving amount 180/2).

FIG. 11E shows deformation of the wire body 140 at the time when theturning link 111 turns +330 degrees with respect to the base point link110. In this case, the U-shaped bent section moves to a position of 15degrees (=initial position 180−moving amount 330/2).

An angle range in which the turning link 111 can turn with respect tothe base point link 110 is a range in which the U-shaped bent sectiondoes not climb over the base point link fixed section in the plusdirection and a range in which the U-shaped bent section does not climbover the turning link fixed section in the minus direction. According tothis condition, ideally, the turning link 111 can turn ±360 degrees withrespect to the base point link 110.

Next, an implementation mode of the robot including the actuatoraccording to this embodiment is exemplified. FIGS. 12, 13, and 14 areschematic diagrams showing the robot arm of the robot according to thisembodiment.

FIG. 12 is a schematic diagram showing the configuration of a scalartype robot 201 according to this embodiment. In other words, FIG. 12 isa schematic diagram of the scalar type robot 201 applied with theinvention.

A J1 axis actuator 161, a J2 axis actuator 162, a J3 axis actuator 163,a J4 axis actuator 164, and an end effector 160 are sequentiallyarranged from a manipulator main body. The invention can be applied tothe J1 axis actuator 161, the J2 axis actuator 162, and the J4 axisactuator 164 configured by turning joints. The J1 axis actuator 161, theJ2 axis actuator 162, and the J4 axis actuator 164 are arranged indirections in which the joints are bent.

According to this embodiment, the width and the height of the jointsconfiguring the scalar type robot 201 can be reduced. Therefore, it ispossible to realize the slim scalar type robot 201.

FIG. 13 is a schematic diagram showing the configuration of a six-axisvertical multi-joint type robot 202 according to this embodiment. Inother words, FIG. 13 is a schematic diagram of the six-axis verticalmulti-joint type robot 202 applied with the invention.

A J1 axis actuator 171, a J2 axis actuator 172, a J3 axis actuator 173,a J4 axis actuator 174, a J5 axis actuator 175, a J6 axis actuator 176,and an end effector 170 are sequentially arranged from a manipulatormain body. The J1 axis actuator 171, the J4 axis actuator 174, and theJ6 axis actuator 176 are arranged in directions in which joints aretwisted. The J2 axis actuator 172, the J3 axis actuator 173, and the J5axis actuator 175 are arranged in directions in which the joints arebent.

According to this embodiment, the diameter of the joints to be twistedcan be reduced. Therefore, it is possible to configure the slim six-axisvertical multi-joint type robot 202. Further, the diameter and the widthof the joints to be bent can be reduced. Therefore, it is possible toconfigure the six-axis vertical multi-joint type robot 202 that preventsinterference between links and has a wide operation range.

FIG. 14 is a schematic diagram showing the configuration of a double-armseven-axis vertical multi-joint type robot 203 according to thisembodiment. In other words, FIG. 14 is a schematic diagram of thedouble-arm seven-axis vertical multi-joint type robot 203 applied withthe invention.

In a right arm, a J1 axis actuator 181, a J2 axis actuator 182, a J3axis actuator 183, a J4 axis actuator 184, a J5 axis actuator 185, a J6axis actuator 186, a J7 axis actuator 187, and an end effector 180 aresequentially arranged from a manipulator main body. In a left arm, a J1axis actuator 191, a J2 axis actuator 192, a J3 axis actuator 193, a J4axis actuator 194, a J5 axis actuator 195, a J6 axis actuator 196, a J7axis actuator 197, and an end effector 190 are sequentially arrangedfrom the manipulator main body. The J1 axis actuators 181 and 191, theJ3 axis actuators 183 and 193, the J5 axis actuators 185 and 195, andthe J7 axis actuators 187 and 197 are arranged in directions in whichjoints are twisted. The J2 axis actuators 182 and 192, the J4 axisactuators 184 and 194, and the J6 axis actuators 186 and 196 arearranged in directions in which the joints are bent.

According to this embodiment, the diameter of the joints to be twistedcan be reduced. Therefore, it is possible to configure the slimdouble-arm seven-axis vertical multi-joint type robot 203. Further, thediameter and the width of the joints to be bent can be reduced.Therefore, it is possible to configure the double-arm seven-axisvertical multi-joint type robot 203 that prevents interference betweenlinks and has a wide operation range.

Embodiments concerning an arrangement method for wire bodies areexplained.

Second Embodiment 2

FIGS. 15A and 15B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator 102 in which wire bodies are arranged to be opposed to eachother according to this embodiment.

The actuator 102 according to this embodiment includes, as shown inFIGS. 15A and 15B, a first wire body 211 and a second wire body 212.Fixed sections of the first wire body 211 and the second wire body 212are arranged to be opposed to each other. Wire body movable sections 143of the first wire body 211 and the second wire body 212 are arranged tobe folded back. As shown in FIG. 15B, the first wire body 211 and thesecond wire body 212 are arranged in a range in which U-shaped sectionsdo not overlap a region where the outer circumferences of thetransmission shaft 114, the reduction gear frame 131, and the reductiongear output shaft 133 are divided into two.

According to this embodiment, the thickness of the wire bodies can bereduced by providing the wire bodies in two systems, increasing thenumbers of wires and pipes to a double, and dividing the wires and thepipes into two systems. Therefore, it is possible to reduce spaces forthe wires and the pipes and configure compact joints.

FIGS. 16A to 16E are schematic diagrams showing motions of the wirebodies of the actuator 102 according to this embodiment. In other words,FIGS. 16A to 16E are schematic diagrams showing deformation of the firstwire body 211 and the second wire body 212 involved in the turn of theturning link 111 with respect to the base point link 110 according tothis embodiment. A relation between the turn of the turning link 111with respect to the base point link 110 and the movement of the U-shapedbent sections of the first wire body 211 and the second wire body 212 isexplained with reference to the figures.

FIG. 16A shows a reference position where the base point link wire bodyextraction port 116 and the turning link wire body extraction port 117are in the same circumferential direction of the actuator 102. An angleformed by the base point link 110 and the turning link 111 is 0 degree.In this case, the U-shaped section of the first wire body 211 and theU-shaped section of the second wire body 212 are arranged in positionsopposed to each other.

FIG. 16B shows deformation of the first wire body 211 and the secondwire body 212 at the time when the turning link 111 turns +180 degreeswith respect to the base point link 110. The U-shaped sections of thefirst wire body 211 and the second wire body 212 move while keeping theopposed positional relation. The position of the U-shaped bent sectionof the wire body movable section 143 moves at a half angle with respectto the turning angle of the turning link 111 because the wire bodies arefolded back in the U shape. In this case, the U-shaped bent sectionsmove to a position of 270 degrees (=initial position 180+moving amount180/2).

FIG. 16C shows deformation of the first wire body 211 and the secondwire body 212 at the time when the turning link 111 turns +330 degreeswith respect to the base point link 110. In this case, the U-shaped bentsections move to a position of 345 degrees (=initial position 180+movingamount 330/2).

FIG. 16D shows deformation of the first wire body 211 and the secondwire body 212 at the time when the turning link 111 turns −180 degreeswith respect to the base point link 110. In this case, the U-shaped bentsections move to a position of 90 degrees (=initial position 180−movingamount 180/2).

FIG. 16E shows deformation of the first wire body 211 and the secondwire body 212 at the time when the turning link 111 turns −330 degreeswith respect to the base point link 110. In this case, the U-shaped bentsections move to a position of 15 degrees (=initial position 180−movingamount 330/2).

An angle range in which the turning link 111 can turn with respect tothe base point link 110 is a range in which the U-shaped bent sectionsclimb over neither the base point link fixed wire body 141 nor theturning link fixed wire body 142 in both the plus and the minusdirection. According to this condition, ideally, the turning link 111can turns ±360 degrees with respect to the base point link 110.

Second Embodiment 3

FIGS. 17A and 17B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator 103 in which a plurality of wire bodies are arranged in thecircumferential direction according to this embodiment.

The actuator 103 according to this embodiment includes, as shown inFIGS. 17A and 17B, the first wire body 211, the second wire body 212, athird wire body 213, and a fourth wire body 214. The fixed sections ofthe first wire body 211 and the second wire body 212 are arranged to beopposed to each other. Fixed sections of the third wire body 213 and thefourth wire body 214 are arranged to be opposed to each other. The wirebody movable sections 143 of the wire bodies are folded back in a Ushape. The outer circumferences of the transmission shaft 114, thereduction gear frame 131, and the reduction gear output shaft 133 areequally divided into two and arranged. As shown in FIG. 17B, the firstwire body 211 and the third wire body 213 and the second wire body 212and the fourth wire body 214 are arranged in ranges in which theU-shaped sections do not overlap the outer circumferences of thetransmission shaft 114, the reduction gear frame 131, and the reductiongear output shaft 133.

According to this embodiment, the thickness of the wire bodies can bereduced by providing the wire bodies in four systems, increasing thenumbers of wires and pipes to a quadruple, and dividing the wires andthe pipes into four systems. Therefore, it is possible to reduce spacesfor the wires and the pipes and configure compact joints. In thisembodiment, as a turning range of the turning link 111 with respect tothe base point link 110, ideally, ±180 degrees can be secured. Further,the numbers of the wires and the pipes can be increased by equallydividing the outer circumferences of the transmission shaft 114, thereduction gear frame 131, and the reduction gear output shaft 133 into nand arranging the wires and the pipes in n×2 systems. Therefore, it ispossible to house necessary wire bodies.

Note that, in this embodiment, the first wire body 211 and the secondwire body 212 are arranged to be opposed to each other and the thirdwire body 213 and the fourth wire body 214 are arranged to be opposed toeach other. However, only one of the first wire body 211 and the secondwire body 212 and one of the third wire body 213 and the fourth wirebody 214 may be arranged.

Second Embodiment 4

FIGS. 18A and 18B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator 104 in which a plurality of wire bodies are arranged in theradial direction according to this embodiment.

The actuator 104 according to this embodiment includes, as shown inFIGS. 18A and 18B, the first wire body 211, the second wire body 212,the third wire body 213, and the fourth wire body 214. The fixedsections of the first wire body 211 and the second wire body 212 arearranged to be opposed to each other. The fixed sections of the thirdwire body 213 and the fourth wire body 214 are arranged to be opposed toeach other. The wire body movable sections 143 of the wire bodies arefolded back in a U shape. As shown in FIG. 18B, the first wire body 211and the second wire body 212 are arranged in a range in which theU-shaped sections do not overlap the outer circumferences of thetransmission shaft 114, the reduction gear frame 131, and the reductiongear output shaft 133. Further, the third wire body 213 and the fourthwire body 214 are arranged in a range in which the U-shaped portions donot overlap the outer circumferences.

According to this embodiment, the thickness of the wire bodies can bereduced by providing the wire bodies in four systems, increasing thenumbers of wires and pipes to a quadruple, and dividing the wires andthe pipes into four systems. Therefore, it is possible to reduce spacesfor the wires and the pipes and configure compact joints. In thisembodiment, as a turning range of the turning link 111 with respect tothe base point link 110, ideally, ±180 degrees can be secured. Further,the numbers of the wires and the pipes can be increased by arranging thewires and the pipes in the outer circumference direction of thetransmission shaft 114, the reduction gear frame 131, and the reductiongear output shaft 133. Therefore, it is possible to house necessary wirebodies.

Note that, in this embodiment, the first wire body 211 and the secondwire body 212 are arranged to be opposed to each other and the thirdwire body 213 and the fourth wire body 214 are arranged to be opposed toeach other. However, only one of the first wire body 211 and the secondwire body 212 and one of the third wire body 213 and the fourth wirebody 214 may be arranged.

Second Embodiment 5

FIGS. 19A and 19B are a perspective view and a sectional view showing aninside in a state in which a cylindrical outer cylinder is removed in anactuator 105 in which a plurality of wire bodies are arranged in theaxial direction according to this embodiment.

The actuator 105 according to this embodiment includes, as shown inFIGS. 19A and 19B, the first wire body 211, the second wire body 212,the third wire body 213, and the fourth wire body 214. The fixedsections of the first wire body 211 and the second wire body 212 arearranged to be opposed to each other. The fixed sections of the thirdwire body 213 and the fourth wire body 214 are arranged to be opposed toeach other. The wire body movable sections 143 of the wire bodies arefolded back in a U shape. As shown in FIG. 19B, the first wire body 211and the second wire body 212 are arranged in a range in which theU-shaped sections do not overlap the outer circumferences of thetransmission shaft 114, the reduction gear frame 131, and the reductiongear output shaft 133. Further, the third wire body 213 and the fourthwire body 214 are arranged in a range in which the U-shaped portions donot overlap the inner side of the U-shaped folded-back arrangement ofthe first wire body 211 and the second wire body 212.

According to this embodiment, the thickness of the wire bodies can bereduced by providing the wire bodies in four systems, increasing thenumbers of wires and pipes to a quadruple, and dividing the wires andthe pipes into four systems. Therefore, it is possible to reduce spacesfor the wires and the pipes and configure compact joints. In thisembodiment, as a turning range of the turning link 111 with respect tothe base point link 110, ideally, ±180 degrees can be secured. Further,the numbers of the wires and the pipes can be increased by arranging thewires and the pipes in the axial direction of the transmission shaft114, the reduction gear frame 131, and the reduction gear output shaft133. Therefore, it is possible to house necessary wire bodies.

Note that, in this embodiment, the first wire body 211 and the secondwire body 212 are arranged to be opposed to each other and the thirdwire body 213 and the fourth wire body 214 are arranged to be opposed toeach other. However, only one of the first wire body 211 and the secondwire body 212 and one of the third wire body 213 and the fourth wirebody 214 may be arranged.

The second embodiment 1 to the second embodiment 5 can be applied incommon to turning sections of machine apparatuses. Besides the joints ofthe robots 201, 202, and 203, the embodiments can be used for machineapparatuses involving turning motions and incorporating the wire bodies211, 212, 213, and 214. A turning driving unit incorporating the wirebodies 211, 212, 213, and 214 can be configured by integrating areduction gear and a motor and applying the embodiments to the reductiongear and the motor.

Application Example 8-1

A joint driving device in this application example is a joint drivingdevice in which a first link and a second link relatively turn. Thejoint driving device includes: a motor including a rotor, a rotor shaft,a stator, a motor frame, and a bearing that supports the rotor shaft; areduction gear that decelerates rotation from the motor and increasesand outputs a torque output of the turning; a reduction gear outputshaft that transmits the torque output from the reduction gear to thesecond link; a transmission shaft that transmits reaction of the torqueoutput from a frame of the reduction gear to the first link; atransmission shaft outer cylinder arranged on the outer circumference ofthe transmission shaft and connected to the transmission shaft; areduction gear output shaft outer cylinder arranged in the outercircumference of the reduction gear output shaft and connected to thereduction gear output shaft; and a wire body arranged between the firstlink and the second link and including at least one of a wire and apipe. The transmission shaft includes the motor frame as at least apart. The wire body is housed in a housing space formed by a spacebetween the transmission shaft outer cylinder and the transmissionshaft, the frame of the reduction gear, or the reduction gear outputshaft and a space between the reduction gear output shaft outer cylinderand the reduction gear output shaft, the frame of the reduction gear, orthe transmission shaft.

According to this application example, in the structure of the jointdriving device that turns the first link and the second link withrespect to each other, the motor frame is used as a part of thetransmission shaft. Therefore, it is possible to simplify the structureand reduce the outer diameter of the joint driving device. With thisstructure, the space for housing the wire body is provided in the outercircumference of the reduction gear output shaft, the frame of thereduction gear, or the transmission shaft to secure a bending radius ofthe wire body large. Consequently, it is possible to reduce deformationstress acting on the wire body. It is possible to provide the jointdriving device that improves the durability of the wire body.

Application Example 8-2

The joint driving device described in the application example 8-1further includes a reduction gear output shaft collar connected to thereduction gear output shaft and arranged in the outer circumference ofthe frame of the reduction gear or the transmission shaft.

According to this application example, in an area where the reductiongear output shaft turns, the wire body moves following the reductiongear output shaft outer cylinder and, on the other hand, the frame ofthe reduction gear and the transmission shaft turn in a directionopposite to the turn of the reduction gear output shaft outer cylinder.Therefore, relative motions of the frame of the reduction gear and thetransmission shaft and the wire body occur and friction tends to occur.However, the reduction gear output shaft collar prevents the wire bodyfrom coming into contact with the frame of the reduction gear and thetransmission shaft and prevents the occurrence of friction with the wirebody. Therefore, the durability of the wire body is improved.

Application Example 8-3

In the joint driving device described in the application example 8-1,the wire body includes a movable section and fixed sections located atboth ends of the movable section. One of the fixed sections of the wirebody is arranged along the circumferential direction of the transmissionshaft between the transmission shaft outer cylinder and the transmissionshaft. The other of the fixed sections of the wire body is arrangedalong the circumferential direction of the reduction gear output shaftbetween the reduction gear output shaft outer cylinder and the frame ofthe reduction gear or the transmission shaft. The movable section of thewire body is arranged to be folded back in a U shape in thecircumferential direction of the transmission shaft and the reductiongear output shaft.

According to this application example, when the first link and thesecond link turn with respect to each other, the U-shaped folded-backsection moves. Consequently, it is possible to disperse bending stressacting on the wire body to the entire wire body. It is possible tosecure the durability of the wire body.

Application Example 8-4

In the joint driving device described in the application example 8-3,one of the fixed sections of the wire body is fixed to be closer to thetransmission shaft side and the other of the fixed sections of the wirebody is fixed to be closer to the reduction gear output shaft outercylinder side.

According to this application example, fixing positions of the fixedsections of the wire body are arranged to be shifted in the radialdirection of the transmission shaft. Therefore, it is possible to reducecontact pressures of the wire body and the frame of the reduction gear,the reduction gear output shaft, the reduction gear output shaft outercylinder, the transmission shaft, and the transmission shaft outercylinder and prevent friction. Therefore, it is possible to improve thedurability of the wire body.

Application Example 8-5

In the joint driving device described in the application example 8-1,the wire body includes a first wire body and a second wire body. Fixedsections of the first wire body and the second wire body are arranged tobe opposed to each other. The wire bodies are arranged in a range inwhich U-shaped folded-back sections of the wire bodies do not overlap.

According to this application example, the thickness of the wire bodiescan be reduced by providing the wire bodies in two systems, increasingthe numbers of wires and pipes to a double, and dividing the wires andthe pipes into two systems. Therefore, it is possible to reduce housingspaces for the wires and the pipes and configure compact joints.

Application Example 8-6

In the joint driving device described in the application example 8-1, aplurality of systems of the wire bodies are arranged along thecircumferential direction of the transmission shaft and the reductiongear output shaft.

According to this application example, the numbers of the wires and thepipes can be increased by arranging the plurality of systems of the wirebodies. Therefore, it is possible to house necessary wire bodies.

Application Example 8-7

In the joint driving device described in the application example 8-1, aplurality of systems of the wire bodies are arranged along the radialdirection of the transmission shaft and the reduction gear output shaft.

According to this application example, the numbers of the wires and thepipes can be increased by arranging the plurality of systems of the wirebodies. Therefore, it is possible to house necessary wire bodies.

Application Example 8-8

In the joint driving device described in the application example 8-1, aplurality of systems of the wire bodies are arranged along the axialdirection of the transmission shaft and the reduction gear output shaft.

According to this application example, the numbers of the wires and thepipes can be increased by arranging the plurality of systems of the wirebodies. Therefore, it is possible to house necessary wire bodies.

Application Example 8-9

The joint driving device described in the application example 8-1further includes a mechanical brake. The mechanical brake is arranged ina space on the inside of the first link or the second link.

According to this application example, the mechanical brake can bearranged using the space on the inside of the first link or the secondlink. Therefore, it is possible to reduce the width in a turning axisdirection of the joint driving device. It is possible to reduce thejoint driving device in size.

Application Example 8-10

The joint driving device described in the application example 8-1further includes a position detector. The position detector is arrangedin a space on the inside of the first link or the second link.

According to this application example, the position detector can bearranged using the space on the inside of the first link or the secondlink. Therefore, it is possible to reduce the width in the turning axisdirection of the joint driving device. It is possible to reduce thejoint driving device in size.

Application Example 8-11

The joint driving device described in the application example 8-1further includes a motor driving circuit and a position detectorprocessing circuit. The motor driving circuit and the position detectorprocessing circuit are arranged in the first link or the second link.

According to this application example, the motor and the motor drivingcircuit can be arranged close to each other and the position detectorand the position detector processing circuit can be arranged closed toeach other. Therefore, it is possible to reduce a wire between the motorand the motor driving circuit and a wire between the position detectorand the position detector processing circuit. It is possible to reducethe joint driving device in size.

Application Example 8-12

In the joint driving device described in the application example 8-1,the stator of the motor is shrunk-fit or pressed-fit in the motor frame.

According to this application example, by shrink-fitting orpress-fitting the stator, it is possible to reduce components for fixingthe stator to the motor frame, reduce the joint driving device in size,and reduce costs.

Application Example 8-13

In the joint driving device described in the application example 8-1,the wire body is connected to a circuit board or a connector in thehousing space or the reduction gear output shaft outer cylinder and thetransmission shaft outer cylinder.

According to this application example, the wire body can be relayed ordivided in the housing space or the reduction gear output shaft outercylinder and the transmission shaft outer cylinder. Therefore,workability of assembly and disassembly is improved.

Application Example 8-14

A robot according to this application example includes the joint drivingdevice described in any one of the above application examples.

According to this application example, in a vertical multi-joint typerobot or a scalar type robot in which an arm is configured bysequentially connecting links with turning joints, it is possible tohouse the wire body in the arm, reduce deformation of bending andtwisting of the wire body, prevent breaking of wire and breakage, andextend the life of the robot. Since the wire body can be compactlyhoused in a joint, it is possible to configure a robot arm that is smallin size and light in weight and has a wide movable range. Further, sincethe wire body can be wound around a shaft and arranged after a machinebody is assembled, it is possible to realize a robot that is easilyassembled and in which the wire body is easily added and replaced.Further, since it is easy to house the wire body in the arm and form awaterproof and dustproof structure, it is possible to realize a robot ofwaterproof and dustproof specifications. Consequently, it is possible toprovide a small, light, and low-cost robot.

Application Example 8-15

In the robot described in the application example 8-14, the second linkof the joint driving device turns in a direction in which the joint isbent with respect to the first link.

According to this application example, since the width of the joint thatconnects the links can be reduced, it is possible to realize a slim arm.Further, since a wide joint operation range can be secured, it ispossible to widen a movable range of the robot arm.

Application Example 8-16

In the robot described in the application example 8-14, the second linkof the joint driving device turns in a direction in which the joint istwisted with respect to the first link.

According to this application example, since the outer diameter of therobot arm can be reduced, it is possible to suppress interferencebetween the links and widen a movable range of the robot arm.

Third Embodiment 1

The schematic configuration of a robot according to this embodiment isexplained.

FIG. 20 is a perspective view schematically showing the schematicconfiguration of the robot according to this embodiment. Note that“turn” in this embodiment means a normal turn and a reverse turn.

A robot 310 shown in FIG. 20 is a six-axis vertical type multi-jointrobot having 6 turning axes which are fundamental driving axes. Aplurality of links (brackets) functioning as arm members are connectedin series by a plurality of joints (couplings) functioning as armmembers in a height direction (a Z axis) simulating the structure of thehuman arm. Therefore, it is possible to perform complicated work with ahigh degree of freedom.

The robot 310 includes a base section 370 and a main body section 371functioning as a base, a control section 372, a joint 373, a link 374, ajoint 375, a link 376, a joint 377, a link 378, a joint 379, a wristmember (link) 380 functioning as arm members, and a hand (link) 381 onwhich an end effector (not shown in the figure) is mounted. The robot310 includes a multi-joint arm in which links and/or joints adjacent toeach other are turnably coupled by a joint mechanism.

The base section 370 is a pedestal of the robot 310 and is firmly fixedto a plane such as a floor of a work space in a factory or a work benchby a plurality of bolts (screws). Note that a fixing place is notlimited to a horizontal plane (a plane including an X axis and a Y axis)and may be on a movable wagon, an arm coupling section provided on awall surface, a ceiling, a robot unit explained below, or the like aslong as the fixing place has strength enough for withstanding the weightand vibration of the robot 310.

In the control section 372, although not shown in the figure, inaddition to an operation panel for operating the robot 310, an interfaceterminal such as an RS232C or USB (Universal Serial Bus) for inputtingan operation program is provided. Alternatively, the control section 372may include an interface device such as a wireless LAN (Local AreaNetwork) or an infrared transceiver.

Note that the control section 372 may be provided separately from arobot main body.

The joint 373 and the link 374 are arranged in this order on the mainbody section 371.

First, a multi-joint arm structure from the joint 373 to the wristmember 380 of the robot 310 (from an arm to a hand) turns in thehorizontal direction about a first turning axis 391 that pierces throughthe main body section 371 in the Z-axis direction. That is, the joint373 performs a twisting motion of turning in a twisting direction aroundthe first turning axis with respect to the main body section 371.

The hand 381, on which the end effector is mounted, is one end (an end)in the multi-joint arm structure. The joint 373 attached to the mainbody section 371 (on the base section 370 side) is equivalent to theother end (a base) in the robot arm structure. Note that, in thefollowing explanation, a side close to the hand 381 in the robot armstructure is also referred to as “end side” and a side close to the basesection 370 is also referred to as “base side”.

A motor for driving to rotate the robot arm structure, a decelerationmechanism including a plurality of gears, and the like are incorporatedin the main body section 371. Motors for driving the links and the endeffector corresponding thereto, a deceleration mechanism, and the likeare also incorporated near turning axes explained below.

The joint 375 is combined with the end side of the link 374 arranged toextend to the end side of the joint 373. The joint 375 is driven to turnabout a flexing turning axis substantially orthogonal to the firstturning axis 391, i.e., a first flexing turning axis 392 that piercesthrough the link 374 in the X-axis direction. The first flexing turningaxis 392 is located on the end side of the link 374. “Substantiallyorthogonal” is defined as including crossing in a range within 10° inaddition to completely orthogonal.

Note that, in the multi-joint arm in this embodiment, flexing turningaxes substantially parallel to the first flexing turning axis 392 arenamed by serial numbers such as first to n-th flexing turning axes fromthe main body side. “Substantially parallel” is defined as includingcrossing in a range within 10° in addition to completely parallel.

Extending directions of the turning axes change when the robot operates(e.g., when the robot turns (twists) about the first turning axes 391).Therefore, the following explanation is based on a state in which therobot is set in an initial state shown in FIG. 20.

The link 376 is arranged to extend to the end side of the joint 375.

The joint 377 is combined with the end side of the link 376. The link378 is combined with the end side of the joint 377. The link 378 isarranged to extend to the end side of the joint 377. The joint 377combined with the link 378 is driven about a second flexing turning axis393 that pierces through the end side of the link 376 in the X-axisdirection.

The joint 379, on which a driving transmitting section 350 and anelectric section 360 are set, is combined with the end side of the link378. The joint 379 is driven to turn in a twisting direction withrespect to the link 378 about a twisting turning axis 394 that piercesthrough the end side of the link 378 in the Y-axis direction.

The wrist member 380 is combined with the end side of the joint 379. Thewrist member 380 is driven about a third flexing turning axis 395 thatpierces through the end side of the joint 379 in the X-axis direction.

The hand 381 is arranged to extend to the wrist member 380 on the endside of the wrist member 380. The hand 381 is driven to turn in theY-axis direction along the extending direction of the hand 381 from thewrist member 380 on the end side of the wrist member 380, that is, turnin a twisting direction with respect to the wrist member 380 about atwisting turning axis 396 that pierces through substantially the centerof the hand 381 formed in a columnar shape.

As explained above, the end effector functioning as a mechanism forexecuting predetermined work performed by the robot 310 is combined onthe end side of the multi-joint arm (not shown in the figure). As theend effector, end effectors of various forms can be used according toapplications of the robot 310. For example, a gripping mechanism such asa robot hand that grips a manufactured article or the like or a tool forperforming machining such as soldering or welding is attached to the endside of the hand 381, whereby the robot 310 can be used as the robot 310that carries out various kinds of work.

Among the joint driving mechanisms of the multi-joint arm of the robot310 configured as explained above, an example of the joint drivingmechanisms that turnably couple the arm members (the links or thejoints) adjacent to each other excluding the joint driving mechanism forthe wrist member 380 and the hand 381 is explained.

First, a joint driving mechanism for a turning axis (a joint) differentfrom the third flexing turning axis 395, which is the flexing turningaxis at the most end of the multi-joint arm, is explained with referenceto the drawings. FIG. 21 is a partial sectional view schematicallyshowing a front structure of an actuator 302 functioning as a jointdriving mechanism. Note that, in FIG. 21, in the respective jointsections of the multi-joint arm, an arm member (a link or a joint) onthe base side is referred to as base point link 410 and an arm member onthe end side turned with respect to the base point link 410 is referredto as turning link 412.

In FIG. 21, the actuator 302 includes a motor 322, a reduction gear 324,a reduction gear output shaft collar 326, a reduction gear output shaft330, and a transmission shaft 334 including a motor frame 333 of themotor 322 at least as a part.

The motor 322 includes a rotor 338, a rotor shaft 340, a stator 343, andthe motor frame 333. The rotor shaft 340 of the motor 322 is connectedto an input shaft of the reduction gear 324 on the inside of thereduction gear 324. The stator 343 and the motor frame 333 are providedin the outer circumference of the rotor 338. A turning force of therotor shaft 340 is transmitted to the reduction gear 324. The reductiongear 324 outputs a torque output obtained by increasing the torque ofthe turning force.

A frame 336 of the reduction gear 324 is connected to the motor frame333 of the motor 322 (or the transmission shaft 334). The reduction gear324 reduces rotation from the motor 322, increases a torque output ofthe turn, and outputs the torque. The reduction gear 324 incorporates agear mechanism (not shown in the figure) that decelerates the turn ofthe input shaft and a joint bearing mechanism (not shown in the figure)that supports the reduction gear output shaft 330. As the gear mechanismof the reduction gear 324, a wave gear may be used. However, otherdeceleration mechanisms may be used.

The reduction gear output shaft collar 326 is connected to the reductiongear output shaft 330 and arranged in the outer circumference of thereduction gear 324 or the transmission shaft 334. The reduction gearoutput shaft collar 326 prevents a wire body 328 from coming intocontact with the reduction gear 324. The wire body 328 is at least oneof a wire and a pipe. Note that the wire body is a general term of apower line (an electric wire), a signal line, a gas pipe for supplyinggas, a liquid pipe for supplying liquid, and the like. Note that avacuum pipe is also included in the gas pipe.

The reduction gear output shaft 330 transmits the torque output from thereduction gear 324 to the turning link 412. A reduction gear outputshaft outer cylinder 316 connected to the reduction gear output shaft330 is arranged in the outer circumference of the reduction gear outputshaft 330. The turning link 412, the reduction gear output shaft outercylinder 316, and the reduction gear output shaft collar 326 areconnected to the reduction gear output shaft 330. The reduction gearoutput shaft 330 transmits the increased torque output to the turninglink 412. The reduction gear output shaft 330 corresponds to all membersthat transmit the torque output of the reduction gear 324 to the turninglink 412.

The transmission shaft 334 is a member that connects the frame 336 ofthe reduction gear 324 and the base point link 410. The transmissionshaft 334 includes the motor frame 333 as at least a part. For example,the transmission shaft 334 is integral with the motor frame 333.Consequently, high-load driving can be performed because a heatradiation property is improved by the integration. The transmissionshaft 334 also functions as the motor frame 333 of the motor 322. Therotor 338, the rotor shaft 340, and the stator 343 configuring the motor322 are incorporated in the transmission shaft 334. The transmissionshaft 334 is connected to the base point link 410. The transmissionshaft 334 transmits reaction of the torque output from the frame 336 ofthe reduction gear 324 to the base point link 410 to thereby turn theturning link 412 and the base point link 410 with respect to each other.A transmission shaft outer cylinder 314 connected to the transmissionshaft 334 is arranged in the outer circumference of the transmissionshaft 334.

Besides, in the actuator 302, a number-of-turns detecting section (aposition detector) 344 and a mechanical brake 346 are provided. However,positions where the number-of-turns detecting section 344 and themechanical brake 346 are provided may be positions other than thepositions shown in the figure.

The number-of-turns detecting section 344 may be arranged on the insideof the base point link 410. Consequently, it is possible to reduce thelength between the base point link 410 and the turning link 412 andreduce the actuator 302 functioning as the joint driving mechanism insize. As the number-of-turns detecting section 344, a unit structure maybe used or a module structure may be used.

The reduction gear output shaft 330 may be configured in a hollowstructure in the center. A rotating shaft of the motor 322 may beconnected to an input shaft of the mechanical brake 346 piercing throughthe hollow structure of the reduction gear output shaft 330. A frame ofthe mechanical brake 346 may be arranged on the inside of the turninglink 412. Consequently, it is possible to reduce the length between thebase point link 410 and the turning link 412 and reduce the actuator 302functioning as the joint driving device in size.

Details of the driving transmitting section 350, which is a jointdriving mechanism for driving a flexing turning axis on the most endside, in the multi-joint arm of the robot 310 are explained withreference to the drawings.

FIG. 22 is a perspective view schematically showing the structure of thedriving transmitting section 350 that flexes the wrist member 380 withrespect to the joint 379 of the robot 310. A part of members other thanthe driving transmitting section 350 is omitted. For convenience ofexplanation of the structure of the driving transmitting section 350 onthe inside of the joint 379, a part of the members is seen through.

In the multi-joint arm of the robot 310 including the plurality of jointdriving mechanisms in which the arm members such as the plurality oflinks and joints are coupled by the twisting turning axes and theflexing turning axes, the driving transmitting section 350 functioningas the joint driving mechanism including the third flexing turning axis395, which is the flexing turning axis on the most end side, as theturning axis is set in the joint 379 (see FIG. 20). More specifically,the driving transmitting section 350 is arranged on one side surface ofside surfaces in a direction substantially orthogonal to the thirdflexing turning axis 395 of the joint 379. Note that, in thisembodiment, “substantially orthogonal” has a meaning including crossingin a range within 10° in addition to completely orthogonal.

In FIG. 22 showing details of the driving transmitting section 350including the third flexing turning axis 395, the joint 379 includes adriven pulley 386 functioning as a driven wheel that turns with thethird flexing turning axis 395 as a turning axis, a motor 380Mfunctioning as a driving turning source for the third flexing turningaxis 395, a driving shaft 397 which turns around a turning axis same asthe third flexing turning axis 395 by the motor 380M, and a drivingpulley 385 functioning as a driving wheel turned by the motor 380M viathe driving shaft 397. A number-of-turns detecting section (a positiondetector) 380D is provided near the motor 380M. However, a positionwhere the number-of-turns detecting section (a position detector) 380Dis provided may be a position other than the position shown in thefigure. As the number-of-turns detecting section 380D, a unit structuremay be used or a module structure may be used.

The driving pulley 385 and the driven pulley 386 are coupled via atiming belt 387 functioning as an endless power transmission cable.Between the driving pulley 385 and the driven pulley 386, an idler 388including a pulley turnably set in contact with the timing belt 387according to the movement of the timing belt 387 in order to adjusttension of the timing belt 387 is arranged.

The robot 310 having the configuration explained above is not limited toan industrial robot and may be a medical robot and a robot for home use.

With the driving transmitting section 350 set in the joint 379, areduction in the size of the joint 379 functioning as the arm member, inwhich the third flexing turning axis 395 is set, can be further attainedthan a structure in which a motor functioning as a driving turningsource is directly connected to the third flexing turning axis 395 aswell. Specifically, an increase in the width of the joint 379 in the armwidth direction orthogonal to the extending direction of the multi-jointarm due to the arrangement of the motor in the axis direction of thethird flexing turning axis 395 is suppressed.

Details of the structure of the wrist member, which is a main part ofthe robot in this embodiment, are explained.

FIG. 23 is a partial sectional view schematically showing the structureof the joint driving mechanism of the wrist member 380 of the robot 310in the embodiment. FIG. 24 is a partial sectional view for explaining,in a cross section different from FIG. 23, the joint driving mechanismof the wrist member 380.

In FIG. 23, the wrist member 380 includes a bearing section 389P. Theother end of a shaft 383, one end of which is attached to the drivenpulley 386 of the driving transmitting section 350 of the joint 379, isattached to the bearing section 389P. Consequently, the wrist member 380is cantilevered via the shaft 383 and a bearing 389 in the bearingsection 389P on the driving transmitting section 350 side of the joint379. With this configuration, the width in a flexing turning axisdirection (in the figure, the third flexing turning axis 395 direction)of the wrist section (the wrist member 380) of the robot 310 can be madecompact. This is advantageous for a reduction in the size of the robot310. In this embodiment, in a space on the opposite side across thewrist member 380 of the driving transmitting section 350 of the joint379, an electric section 360 provided with, for example, a relay board(not shown in the figure) for sending, via an electric wire, drivingpower and an electric signal to a driving system such as the band 381and an end effector mounted on the band 381 is arranged.

In the wrist member 380, a motor including at least a rotor 478, a rotorshaft 480, and a stator 482, a reduction gear 464, and a reduction gearoutput shaft 460 are housed, in a positioned state, in a motor housingrecess 470 provided in a housing 472, which is a motor frame of themotor.

In the motor housing recess 470 provided in the housing 472, with thehand 381 side set as a recess bottom section 470A of the motor housingrecess 470, a first step section 470B, a second step section 470C, and athird step section 470D widening in order from the hand 381 side to themain body section 371 side (the base side) are formed.

The rotor shaft 480 of the motor is connected to an input shaft of thereduction gear 464 on the inside of the reduction gear 464 and connectedto a bearing 353 arranged in the hosing 472. The rotor 478 is providedin the outer circumference of the rotor shaft 480. The stator 482 isprovided in the outer circumference of the rotor 478. The motorincluding the rotor shaft 480, the rotor 478, and the stator 482 ispositioned by the recess bottom section 470A and the first step section470B of the motor housing recess 470 of the housing 472. The motor isturnably held by a screw head of a screw 398 screwed into a screw hole475 and a coupling pin provided in the rotor shaft 480.

A turning force of the rotor shaft 480 is transmitted to the reductiongear 464. The reduction gear 464 outputs a torque output obtained byincreasing the torque of the turning force.

A frame 466 of the reduction gear 464 is connected to the housing 472,which is the motor frame of the motor. The reduction gear 464decelerates rotation from the motor, increases a torque output of therotation, and outputs the torque output. The reduction gear 464incorporates a gear mechanism (not shown in the figure) that deceleratesa turn of an input shaft and a joint bearing mechanism (not shown in thefigure) that supports the reduction gear output shaft 460. The reductiongear output shaft 460 is connected to a bearing 357 arranged in the hand381.

Besides, in the wrist member 380, a mechanical brake 486 connected tothe rotor shaft 480 via a bearing 354 and a coupling nut 355 and anumber-of-turns detecting section (a position detector) 484 areprovided. However, positions where the mechanical brake 486 and thenumber-of-turns detecting section 484 are provided may be positionsother than the positions shown in the figure. In this embodiment, themechanical brake 486 is housed in the motor housing recess 470 of thehousing 472 while being positioned by the second step section 470C. Thenumber-of-turns detecting section 484 is connected to the rotor shaft480 in a space in a lid section 489 of the motor housing recess 470provided while being positioned by the third step section 470D of themotor housing recess 470 of the housing 472. Note that, as thenumber-of-turns detecting section 484, a unit structure may be used or amodule structure may be used.

FIG. 24 is a partial sectional view of the structure of a node drivingmechanism of the wrist member 380 viewed on a cross section differentfrom FIG. 23. Specifically, FIG. 24 is a diagram for explaining a crosssection different from a portion where the screw hole 475 for holdingthe motor with the screw 398 is formed.

In FIG. 24, on a sidewall of the motor housing recess 470 in which themotor including the rotor shaft 480, the rotor 478, and the stator 482is held in the positioned state, a heat radiation groove section 477recessed toward the outer side of the housing 472 is formed. A heatradiation member 399 having a relatively high thermal conductivity isfilled and solidified between the heat radiation groove section 477 andthe stator 482 of the motor.

As the heat radiation member 399 filled between the heat radiationgroove section 477 and the stator 482, metal paste is preferable and, inparticular, silver paste is suitable. Since the silver paste has highthermal conductivity, a heat radiation effect can be improved. Further,since the silver paste is a metal paste material widely used in thepast, the silver paste is excellent in workability. Therefore, it ispossible to improve manufacturing efficiency.

With the robot 310 including the wrist member 380 in this embodiment, itis possible to provide the wrist member 380 further reduced in size thana configuration in which a motor positioned and housed in a housing isfurther housed in a member forming the outer shape of a wrist member asin the past.

Moreover, the heat radiation groove section 477 is provided on thesidewall around the motor (the stator 482) of the motor housing recess470 of the housing 472. The heat radiation member 399 such as the silverpaste is filled and solidified in a gap between the heat radiationgroove section 477 and the motor. Therefore, it is possible to radiate,with the heat radiation member 399, heat generated by the driving of themotor.

Therefore, heat generation of the wrist member 380 is suppressed. Amechanical deficiency of a driving element for the wrist member 380arranged in the housing 472 due to heat can be reduced. Therefore, it ispossible to provide the small and light robot 310 capable of highlyaccurately executing a variety of kinds of fine work.

A manufacturing method for the robot in the embodiment, in particular, amanufacturing method for the wrist member 380 is explained.

FIG. 25 is a perspective sectional view schematically showing the shapeof the inside of the housing 472 of the wrist member 380 in theembodiment cut into substantially a half.

FIG. 26 is a flowchart for explaining the manufacturing method for therobot (the wrist member 380) in the embodiment.

In the manufacturing method for the wrist member 380 in this embodimentshown in FIG. 25, first, in step S1, by applying cutting or the like toa forming member of the housing 472, the motor housing recess 470, thescrew hole 475, and the heat radiation groove section 477 are formedtogether with the external shape of the housing 472. In this way, theformation of the housing 472, in particular, the motor housing recess470, the screw hole 475, and the heat radiation groove section 477 canbe performed by the same machine tool and in the same process.Therefore, efficiency is high.

When a plurality of heat radiation groove sections 477 are formed, allthe shapes of the heat radiation groove sections 477 do not need to beset the same. For example, as shown in FIG. 25, deep heat radiationgroove sections 477 and shallow heat radiation groove sections 477′ maybe formed toward the recessed bottom section 470A side of the motorhousing recess 470. Depths from the stator 482 side (see FIGS. 23 and24) of the heat radiation groove sections 477 and 477′ toward the outerside of the housing 472 may also be changed. In any case, the shapes andthe sizes of the heat radiation groove sections 477 and 477′, othercutouts, and the like are determined in a range in which rigidityresistible against a force of a moment applied to the wrist member 380is not spoiled when the end effector amounted on the hand 381 connectedto the wrist member 380 is moved to cause the end effector to executepredetermined work. For example, a total of the sizes (capacities) ofthe plurality of heat radiation groove sections 477 and 477′ is settargeting 50% to 70% of the capacity of the motor housing recess 470.Consequently, it is possible to secure a heat radiation property,rigidity, workability of press-in of a motor explained below, or thelike.

Subsequently, in step S2, the motor including the rotor shaft 480, therotor 478, and the stator 482 is pressed into the motor housing recess470 formed in the housing 472. The motor (the stator 482) is positionedby the recess bottom section 470A of the motor housing recess 470 and apositioning section 473 on the side surface of the first step section470B and fixed to the motor housing recess 470 of the housing 472 by thescrew head of the tightened screw 398.

In step S3, the heat radiation member 399 such as the silver paste isinjected into between the motor (the stator 482) and the heat radiationgroove sections 477 and 477′. The injection of the heat radiation member399 can be performed by, for example, a method in the past in which adispenser is used. In this case, for example, entrainment of air bubblescan be suppressed by injecting the heat radiation member 399 afterinserting a needle of a dispenser to the vicinity of the bottoms of theheat radiation groove sections 477 and 477′ (the recess bottom section470A side of the motor housing recess 470).

In step S4, the heat radiation member 399 such as the silver paste issolidified. For the solidification of the heat radiation member 399,various methods are adopted according to hardening type of the heatradiation member 399 in use. For example, the heat radiation member 399of a thermosetting type is put in an oven or the like and subjected topredetermined heating. The heat radiation member 399 of a photocuringtype is solidified by irradiating light having a predeterminedwavelength such as an ultraviolet ray.

As shown in step S5, the joint driving members other than the motor suchas the reduction gear and the mechanical brake are incorporated in thehousing 472. A series of the manufacturing method for the wrist member380 is ended.

With the manufacturing method for the wrist member 380 of the robot 310according to this embodiment explained above, with a relatively simpleprocess in which well-known cutting or the like is used, it is possibleto manufacture and provide the wrist member 380 further reduced in sizecompared with a configuration in which a motor positioned and housed ina housing is further housed in a member forming the external shape of awrist member as in the past.

Moreover, in this application example, heat generated by the driving ofthe motor can be radiated by the heat radiation groove sections 477 and477′ formed around the motor and the heat radiation member 399 filled inthe heat radiation groove sections 477 and 477′. Therefore, heatgeneration of the wrist member 380 is further suppressed than when heatis directly transferred to the wrist member 380. It is possible toreduce a mechanical deficiency of a driving element for the wrist member380 arranged in the housing 472 due to heat.

Third Embodiment 2

A robot according to this embodiment is explained with reference to thedrawings.

FIG. 27 is an explanatory diagram schematically showing the robotaccording to this embodiment. Note that components same as thecomponents in the third embodiment 1 are denoted by the same referencenumerals and signs and redundant explanation of the components isomitted.

In FIG. 27, a robot 500 according to this embodiment is a double-armrobot in which a first robot arm 310A and a second robot arm 310B, whichare configured the same as the robot arm of the robot 310 in the thirdembodiment 1, are set in a body section 513.

The robot 500 includes a stand 512 that supports the robot 500, acolumnar body section 513 fixed to the stand 512, and a first armcoupling section 515A and a second arm coupling section 515B projectedat a substantially right angle from the body section 513 to an upperpart on the opposite side of the stand 512 side of the body section 513.

A first robot arm 310A setting surface side on the opposite side of thebody section 513 side of the first arm coupling section 515A includes afirst arm fixing section JOA turnable around a O-th turning axis JOALthat pierces through the first arm coupling section 515A in theprojecting direction of the first arm coupling section 515A. The mainbody section 371 of the first robot arm 310A configured the same as therobot arm of the robot 310 in the third embodiment 1 is fixed to thefirst arm fixing section JOA.

Similarly, a second robot arm 310B setting surface side on the oppositeside of the body section 513 side of the second arm coupling section515B includes a second arm fixing section JOB turnable around a O-thturning axis JOBL that pierces through the second arm coupling section515B in the projecting direction of the second arm coupling section515B. The main body section 371 of the second robot arm 310B configuredthe same as the robot arm of the robot 310 in the third embodiment 1 isfixed to the second arm fixing section JOB.

In both of the first robot arm 310A and the second robot arm 310B forsix-axis control, the first arm fixing section JOA and the second armfixing section JOB respectively include the O-th turning axis JOAL andthe O-th turning axis JOBL. Therefore, the robot 500 substantially forseven-axis control can realize movement with a high degree of freedom ona variety of tracks of the first robot arm 310A and the second robot arm310B.

The robot 500 according to this embodiment includes the first robot arm310A and the second robot arm 310B configured the same as the robot armof the robot 310 explained in the third embodiment 1. Therefore, it ispossible to provide the small double-arm robot 500 capable of highlyaccurately performing a variety of kinds of fine work.

Note that the invention is not limited to the embodiments explainedabove. Various changes, improvements, and the like can be applied to theembodiments. Modifications are explained below.

For example, in the embodiments, it is explained that the metal pastesuch as the silver paste is suitable as the heat radiation member 399.However, besides the metal paste, various members can be used as theheat radiation member 399.

For example, as a fluid like the metal past, for example, a siliconoil-based heat conductive fleece dispersed with carbon, aluminum, or thelike can be used.

As a solid, a graphite sheet, thermosetting silicon rubber, orrelatively soft metal such as indium can be used.

The shape of the heat radiation groove sections 477 and 477′ is notlimited to the shape shown in the figure in the third embodiment 1. Forexample, by forming fine unevenness on the heat radiation groovesections 477 and 477′, the surface area of the heat radiation groovesections 477 and 477′ increases, the heat radiation property isimproved, and adhesion of the heat radiation member 399 can be improved.

The robot 500 in the third embodiment 2 is explained as the double-armrobot including the first robot arm 310A and the second robot arm 310B.However, the robot 500 is not limited to this and may include three ormore robot arms.

Application Example 9-1

A manufacturing method for a robot according to this application exampleis a manufacturing method for a robot including a base, a multi-jointarm provided in the base, a wrist member coupled to the multi-joint arm,and a hand mounted with an end effector turnably coupled to the wristmember. The wrist member includes a motor including a rotor, a rotorshaft, and a stator and a housing including a motor housing recess, inwhich the motor is positioned and housed, and forming an external shapeof the wrist member. The manufacturing method includes: forming a motorincorporating recess including a positioning section for the stator, ascrew hole for a screw for fixing the stator incorporated in the motorincorporating recess, and a heat radiation groove section recessed froma sidewall of the motor incorporating recess toward the outer side ofthe housing; positioning the stator in the positioning section of themotor incorporating recess and then fixing the stator with the screw;injecting a heat radiation member having fluidity in a normal state andhigh thermal conductivity into a gap between the stator and the heatradiation groove section; and solidifying the heat radiation member.

According to this application example, with a relatively simple processin which well-known cutting or the like is used, it is possible tomanufacture the wrist member further reduced in size compared with aconfiguration in which a motor positioned and housed in a housing isfurther housed in a member forming the external shape of a wrist memberas in the past.

Moreover, in this application example, heat generated by the driving ofthe motor can be radiated by the heat radiation member. Therefore, heatgeneration of the wrist member is further suppressed than when heat isdirectly transferred to the wrist member. It is possible to reduce amechanical deficiency of a driving element for the wrist member arrangedin the housing due to heat. For example, when a driving element otherthan the motor such as a position (turn) detector (encoder) included inthe wrist member is also arranged in the housing, it is possible tosuppress a deficiency in the driving of the robot that could be causedby a malfunction of the driving element such as the position detectordue to heat of the motor.

Therefore, it is possible to provide a small and light robot capable ofhighly accurately executing a variety of kinds of fine work.

Application Example 9-2

In the manufacturing method for the robot described in the applicationexample 9-1, it is preferable to use metal paste as the heat radiationmember.

For example, since silver paste has high thermal conductivity, a heatradiation effect can be improved. Further, since the silver paste is amaterial widely used in the past, the silver paste is excellent inworkability of application or the like by a dispenser and is easilymanufactured. Therefore, the silver paste is suitable as a heatradiation material.

Application Example 9-3

A robot according to this application example is a robot including: abase, a multi-joint arm provided in the base; and a wrist memberconfiguring a part of the multi-joint arm. The wrist member includes: amotor including a rotor, a rotor shaft, and a stator; and a housingincluding a motor housing recess, in which the motor is positioned andhoused, and forming the external shape of the wrist member. In thehousing, a motor incorporating recess including a positioning sectionfor the stator, a hole section for fixing the stator incorporated in themotor incorporating recess, and a heat radiation groove section on asidewall of the motor incorporating recess are formed. A heat radiationmember is filled in the heat radiation groove section.

According to this application example, it is possible to manufacture thewrist member further reduced in size compared with a configuration inwhich a motor positioned and housed in a housing is further housed in amember forming the external shape of a wrist member as in the past. Heatgenerated by the driving of the motor can be radiated by the heatradiation member. Therefore, heat generation of the wrist member issuppressed. It is possible to reduce a mechanical deficiency of adriving element for the wrist member arranged in the housing due toheat.

Therefore, it is possible to provide a small and light robot capable ofhighly accurately executing a variety of kinds of fine work.

Application Example 9-4

In the robot described in the application example 9-3, it is preferablethat metal paste is filled and solidified in the heat radiation member.

According to this application example, since silver paste has highthermal conductivity, a heat radiation effect can be improved. Further,since the silver paste is a material widely used in the past, the silverpaste is excellent in workability. Therefore, it is possible to provide,at low costs, a small and light robot capable of highly accuratelyexecuting a variety of kinds of fine work.

Application Example 9-5

In the robot described in the application example 9-3, a plurality ofthe multi-joint arms are provided in the base.

According to this application example, the robot includes a plurality ofthe small and light multi-joint arms described in the applicationexample 9-3 in which a movable area is secured large and a singularpoint is suppressed and that includes a heat radiation structure forheat due to the driving of the motor. Therefore, it is possible toprovide a small robot capable of highly accurately executing a varietyof kinds of fine work.

Application Example 10-1

A robot arm according to this application example is a robot arm inwhich a plurality of arm sections are turnably connected. The armsection includes a plurality of links and an actuator section that turnsthe links. The actuator section includes: a cylindrical cover providedon the outer surface; a motor that turns the link; a motor frameincluded in the motor; a reduction gear that decelerates rotation fromthe motor and outputs a torque output; a collar fixed to the reductiongear; and a wire body including at least one of a wire and a pipe. Atleast apart of the wire body is housed between a surface including afirst small body section formed by the motor frame and the collar and asurface including a second small body section of the cylindrical cover.

Consequently, the wire body can be wound and set. Therefore, it ispossible to reduce the length of the wire body as much as possible.Consequently, it is possible to reduce costs of the wire body itself.When the wire body is drawn around, it is possible to quickly and easilyperform drawing-around work (wiring work) for the wire body.

Application Example 10-2

In the robot arm described in the application example 10-1, it ispreferable that the first small body section formed by the motor frameand the collar is a constricted surface and the second small bodysection of the cylindrical cover is a constricted surface.

Consequently, an inner tube side reduced diameter section and an outertube reduced diameter section are portions where steep unevenness issuppressed. Therefore, it is possible to prevent a cable between thereduced diameter sections from being damaged by the unevenness.

Application Example 10-3

In the robot arm described in the application example 10-1, it ispreferable that at least a part of the wire body is wound around alongitudinal axis of the arm section.

Consequently, the wire body is wound and set. Therefore, it is possibleto reduce the length of the wire body.

Application Example 10-4

In the robot arm described in the application example 10-1, it ispreferable that the wire body is curved in a U shape and housed.

Consequently, an unintended kink of the wire body is prevented.Therefore, the life of the wire body can be secured long.

Application Example 10-5

In the robot arm described in the application example 10-1, it ispreferable that the cylindrical cover is configured by two members inthe longitudinal axis direction of the arm section and the two membersare turnable around the longitudinal axis of the arm section.

Consequently, the cylindrical cover is twisted around the center axis ofthe cylindrical cover.

Application Example 10-6

A robot according to this application example includes the robot armdescribed in the application example 10-1.

Consequently, the wire body can be wound and set. Therefore, it ispossible to reduce the length of the wire body as much as possible.Consequently, it is possible to reduce costs of the wire body itself.When the wire body is drawn around, it is possible to quickly and easilyperform drawing-around work (wiring work) for the wire body.

Application Example 11-1

A robot arm according to this application example is a robot arm inwhich a plurality of arm sections are turnably connected. The armsection includes: a cylindrical cover provided on the outercircumferential surface; a motor; a motor frame included in the motor; areduction gear that decelerates rotation from the motor and outputs atorque output; an encoder that detects a rotation angle of the motor; awire body including at least one of a wire and a pipe; and a housingspace in which at least apart of the wire body is housed between themotor frame and the cylindrical cover. The thickness of the motor frameincreases further away from the reduction gear toward the encoder.

Consequently, for example, heat generated from the motor when the motoroperates is surely transferred from a portion having a relatively largeheat capacity and increased in thickness of the motor frame toward theproximal end side. The heat transferred toward the proximal end side isgradually radiated during the transfer. Consequently, it is possible tosurely prevent the motor from being excessively heated.

Application Example 11-2

In the robot arm described in application example 11-1, it is preferablethat the outer diameter of the motor frame increases according to thethickness of the motor frame.

Consequently, it is possible to surely transfer the heat generated fromthe motor to a base side.

Application Example 11-3

In the robot arm described in the application example 11-1, it ispreferable that, in the cylindrical cover of the arm section, a smallbody section with reduced length of a body circumference is provided ina position where the thickness is large in the longitudinal direction ofthe arm section.

Consequently, it is possible to secure a turning angle of the armsection as wide as possible.

Application Example 11-4

A robot according to this application example includes the robot armdescribed in the application example 11-1.

Consequently, for example, heat generated from the motor when the motoroperates is surely transferred from a portion having a relatively largeheat capacity and increased in thickness of the motor frame toward theproximal end side. The heat transferred toward the proximal end side isgradually radiated during the transfer. Consequently, it is possible tosurely prevent the motor from being excessively heated.

The robot and the manufacturing method for the robot being thusdescribed, it will be apparent that the same may be varied in many ways.Such variations are not to be regarded as a departure from the spiritand scope of the invention, and all such modifications as would beapparent to one of ordinary skill in the art are intended to be includedwithin the scope of the following claims.

What is claimed is:
 1. A robot, comprising: a robot arm including afirst member, wherein the first member includes: a motor including arotor, a rotor shaft, and a stator; a housing including a motorincorporating recess, in which the motor is positioned and housed, themotor incorporating recess including a positioning section for thestator and a heat radiation groove section on a sidewall of the motorincorporating recess; and a heat radiation member which is filled in theheat radiation groove section is located on the stator, wherein thepositioning section is a step within the motor incorporating recesswhich abuts a stepped portion of the stator such that the stator extendsalong a portion of both walls of the housing forming the step of themotor incorporating recess, and wherein the heat radiation membercontacts only one wall of the step in the motor incorporating recess andis filled between a sidewall of the motor incorporating recess and thestator.
 2. The robot according to claim 1, wherein the heat radiationmember is a metal paste which is filled and solidified in the heatradiation groove section.
 3. The robot according to claim 1, wherein therobot arm is a multi-joint arm having a plurality of multi-joint armsthat are provided in a base.
 4. The robot according to claim 1, whereinthe housing forms an external shape of the first member.
 5. The robotaccording to claim 4, wherein the heat radiation member is a metal pastewhich is filled and solidified in the heat radiation groove section. 6.The robot according to claim 1, wherein the first member is a wristmember.
 7. The robot according to claim 2, wherein the first member is awrist member.
 8. The robot according to claim 4, wherein the firstmember is a wrist member.
 9. The robot according to claim 5, wherein thefirst member is a wrist member.
 10. The robot according to claim 1,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 11. The robot according to claim 2,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 12. The robot according to claim 4,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 13. The robot according to claim 5,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 14. The robot according to claim 6,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 15. The robot according to claim 7,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 16. The robot according to claim 8,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 17. The robot according to claim 9,further comprising a hole section for fixing the stator incorporated inthe motor incorporating recess.
 18. The robot according to claim 1,wherein the robot arm is a multi-joint arm.
 19. The robot according toclaim 18, further comprising a base in which the multi-joint armprovided.
 20. The robot according to claim 18, wherein the multi-jointarm has a plurality of multi-joint arms.
 21. The robot according toclaim 19, wherein the multi-joint arm has a plurality of multi-jointarms that are provided in the base.